Traditional control strategies in vehicle platoon control problems often fail to meet the requirements of system robustness and high-accuracy tracking at the same time, especially when facing external disturbances and model uncertainties. To address this issue, a feedback linearization-based sliding mode control scheme is designed. The feedback linearization part transforms the nonlinear system of vehicle platoon into a linear system and compensates for external disturbances using sliding mode variable structure theory [3]. A dynamic model, structural model, and control model of a vehicle platoon are built in the CarSim-Simulink co-simulation environment to validate the proposed control algorithm. Simulation results show that the following vehicle's lateral and longitudinal tracking errors relative to the leading vehicle are within 10-2 meters, and the feedback linearization sliding mode control scheme performs better in maintaining platoon stability, response speed, and reducing energy consumption.


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    Title :

    Research on feedback linearization sliding mode control based on vehicle platoon


    Contributors:

    Conference:

    Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024) ; 2024 ; Guilin, China


    Published in:

    Proc. SPIE ; 13251


    Publication date :

    2024-08-28





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English